Water conservancy construction equipment scheduling method and system

Abstract

The invention relates to the technical field of construction resource scheduling, in particular to a water conservancy construction equipment scheduling method and system, and the method comprises the following steps: obtaining on-site point cloud and soil data to construct an environmental resistance field; calculating a dynamic work efficiency matrix by combining the equipment power parameters and the resistance field; generating an initial time sequence chain based on the work efficiency matrix, and calculating an overlapping volume of a three-dimensional space envelope body of the equipment; if there is overlap, the job time is adjusted according to the priority to generate a conflict-free scheduling instruction set. According to the method, the rated work efficiency parameters of different machine types in a specific operation area are corrected in real time by constructing the equipment passing resistance model fusing the terrain gradient and the soil moisture content, the problem that static scheduling cannot adapt to environmental changes is solved, and meanwhile space-time conflict detection logic based on the three-dimensional operation envelope surface is introduced; and when it is recognized that the multi-machine moving tracks are overlapped, avoiding or peak shifting instructions with priorities are automatically generated, and conflict-free collaborative operation of the equipment cluster in a complex water conservancy scene is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of construction resource scheduling, and in particular to a water conservancy construction equipment scheduling method and system. BACKGROUND

[0002] The technical field of construction resource scheduling involves the overall planning and dynamic allocation of mechanical equipment, human resources and material flow in large-scale water conservancy projects. Among them, the traditional water conservancy construction equipment scheduling method refers to relying on manual experience to compile a static construction progress schedule table, combining Gantt chart or network diagram to arrange equipment access and operation time, coordinating mechanical configuration of each operation surface through regular scheduling meetings, and recording equipment operation shifts and oil consumption data using paper documents or basic electronic spreadsheets.

[0003] However, the prior art ignores the real-time constraints of complex topography and sudden hydro-meteorological conditions on the equipment mobility performance in water conservancy projects, making it difficult for scheduling instructions generated based on ideal working conditions to adapt to slippery or soft foundation operation environments, and lacking dynamic avoidance and coordination mechanisms for multiple equipment operating in limited space, resulting in frequent physical congestion or unplanned downtime of mechanical equipment in key operation surfaces, making it difficult to maintain continuous operation efficiency of equipment clusters in time-varying environments. SUMMARY

[0004] The purpose of the present application is to solve the shortcomings in the prior art and propose a water conservancy construction equipment scheduling method and system.

[0005] In order to achieve the above-mentioned purpose, the present application adopts the following technical solution, a water conservancy construction equipment scheduling method, comprising the following steps: S1: Obtain elevation point cloud data and soil moisture content distribution map, construct a three-dimensional ground surface model using a spatial interpolation algorithm, process the three-dimensional ground surface model, calculate the terrain slope value and ground bearing capacity coefficient, and generate an environmental resistance field by processing the terrain slope value and the ground bearing capacity coefficient using a traffic resistance calculation formula; S2: Read mechanical power parameters and track ground pressure ratio, substitute the mechanical power parameters and the track ground pressure ratio into the environmental resistance field for dynamic simulation matching, calculate the maximum driving speed and effective excavation efficiency, and construct a dynamic work efficiency matrix based on the maximum driving speed and the effective excavation efficiency; S3: Extract engineering quantity demand and operation deadline according to construction task list, plan equipment operation time sequence chain combining the dynamic work efficiency matrix, establish three-dimensional space envelope, and perform intersection operation on three-dimensional space envelopes of different equipment in the same time dimension to calculate overlapping volume; S4: If the overlapping volume is greater than zero, adjust the job start time for the device job time chain until the overlapping volume is zero, output a conflict-free scheduling instruction set and send it to the vehicle terminal for execution.

[0006] As a further scheme of the present application, the step S1 is specifically: S11: Obtain the elevation point cloud data and the soil water content distribution map, call the Kriging spatial interpolation algorithm to perform grid smoothing processing on the discrete elevation point cloud data to generate a basic ground elevation surface, extract the water saturation degree feature for each sampling point in the soil water content distribution map, and perform multi-source data superposition mapping operation in a three-dimensional spatial coordinate system to construct the three-dimensional ground model; S12: Extract the partial derivative matrix in the orthogonal direction for each grid node in the three-dimensional ground model, determine the terrain slope value by calculating the angle between the normal vector and the horizontal plane, and simultaneously convert the soil water content at the node into the corresponding ground compressive strength parameter according to a preset soil elastic-plastic constitutive mechanics model, and calculate the ground bearing capacity coefficient; S13: Combine the passing resistance calculation formula in the vehicle ground mechanics system, perform nonlinear weighted superposition processing on the gravity along the tangent of the slope downward component caused by the terrain slope value and the track vertical settlement rolling resistance caused by the ground bearing capacity coefficient, map the superposition result to all nodes in the global construction coordinate system, and generate the environmental resistance field.

[0007] As a further scheme of the present application, the step S2 is specifically: S21: Read the mechanical power parameters and the track ground pressure ratio, establish the tangential friction shear force equation and the normal dynamic settlement constraint condition for the track tooth and ground contact interface, input the rated traction power parameter of the device for multi-rigid-body dynamics simulation matching, and output the continuous driving force and the transient excavation resistance torque; S22: Use the continuous driving force to overcome the corresponding tangential and normal comprehensive resistance in the environmental resistance field, calculate the maximum driving speed based on the energy conservation principle, and calculate the effective excavation efficiency according to the inverse proportional decay relationship between the transient excavation resistance torque and the device rated output power ratio; S23: Arrange and combine the maximum driving speed and the effective excavation efficiency according to the two-dimensional spatial coordinate axis and the classification dimension of different working conditions to form a multi-dimensional matrix, record the working performance boundary value at different positions in the full working area grid, and construct the dynamic work efficiency matrix.

[0008] As a further scheme of the present application, the step S3 is specifically: S31: According to the construction task list, the engineering quantity demand and the operation deadline are extracted, and combined with the dynamic work efficiency matrix, the theoretical execution time is calculated for each independent subtask under the current ground surface environment, and the device operation time sequence chain is planned according to the logical dependence relationship of construction operation and the backtracking heuristic search algorithm; S32: For each operation task node in the device operation time sequence chain, the vehicle body shape size and the maximum stretching motion trajectory parameter of the mechanical arm are extracted for the device, a local follow-up three-dimensional coordinate system is established with the device chassis turning center as the origin, and the three-dimensional space envelope is established by scanning the edge of the scanning space of the mechanical arm in the full working range. S33: Project the three-dimensional space envelope of all devices and the respective working time interval into a unified four-dimensional space-time coordinate system, traverse all concurrent operation stages using a polyhedron intersection detection algorithm, and calculate the overlapping volume.

[0009] As a further scheme of the present application, the step S4 is specifically: S41: If the overlapping volume is greater than zero, it is determined that a spatial interference conflict event occurs between the corresponding devices, the master-slave scheduling relationship of the conflict devices is determined according to the critical path priority, and the operation start time and the predetermined path parameter of the device with higher priority are kept unchanged; S42: For the subordinate device with lower critical path priority, a time delay adjustment variable is introduced in the conflict task node of the device operation time sequence chain, the operation start time is gradually adjusted backward or advanced according to a fixed step, and the overlapping volume calculation function is triggered cyclically until the overlapping volume between devices is zero. S43: Under the condition that the overlapping volume is zero, the safe operation time node sequence and the corresponding travel transition path are recorded, data packet compression processing is performed, the conflict-free scheduling instruction set is generated, and the conflict-free scheduling instruction set is sent to the vehicle-mounted terminal for execution through the on-site wireless communication network.

[0010] As a further scheme of the present application, the process of calculating the ground bearing capacity coefficient specifically includes: The soil physical properties of each node in the three-dimensional ground surface model are obtained, the water sensitivity is quantified according to the empirical adjustment factor, the local slope influence is corrected and calculated using a nonlinear bearing capacity decay model, and the ground bearing capacity coefficient is generated, and the calculation formula is: ; Among them, represents the ground bearing capacity coefficient, represents the basic bearing capacity reference constant in the dry state, represents the sensitivity decay coefficient of the specific soil to water, represents the soil moisture content percentage value at the node, representing a dimensionless slope-to-gravity transfer compensation coefficient, representing the terrain slope value at the node, representing an exponential operation function with a natural constant as a base.

[0011] As a further scheme of the present application, the process of establishing the tangential friction shear force equation specifically includes: The track ground contact pressure and the track spike geometric size parameters are acquired, the Coulomb Mohr soil shear strength failure criterion is combined, the soil cohesion and internal friction angle parameters are used, the dynamic shear displacement is calculated in the track slip process, the nonlinear exponential shear stress-displacement relationship curve is introduced, the continuous shear stress distribution state on the whole contact area is calculated by integral calculation, and the tangential friction shear force equation is generated.

[0012] As a further scheme of the present application, the process of planning the equipment operation time sequence chain specifically includes: The preposition dependent constraint matrix is extracted from the construction task list, the dynamic work efficiency matrix is traversed to match the equipment model with the highest comprehensive energy efficiency ratio, the vehicle path planning solution algorithm with a time window is applied to solve the operation, the Pareto optimal solution set is calculated, the equipment state conversion time sequence node is extracted from the Pareto optimal solution set, and the equipment operation time sequence chain is generated.

[0013] As a further scheme of the present application, the process of calculating the overlapping volume specifically includes: The new coordinate pose parameters after the time delay adjustment variable intervention are acquired, the interference is judged by using the separation axis theorem algorithm, the equipment envelope polygon is removed, the Boolean intersection operation is used for the remaining three-dimensional geometric bodies determined to have potential intersection, the polyhedral mesh topology structure is extracted, the closed space surrounded by the surface of the polyhedral mesh topology structure is integrated, the integral value is calculated, and the overlapping volume is generated based on the integral value.

[0014] A water conservancy construction equipment scheduling system, the system is used for realizing the water conservancy construction equipment scheduling method, and the system includes: An environmental resistance field generation module is configured to acquire elevation point cloud data and soil moisture content distribution map, construct a three-dimensional ground surface model by using a spatial interpolation algorithm, process the three-dimensional ground surface model, calculate terrain slope values and ground bearing capacity coefficients, process the terrain slope values and the ground bearing capacity coefficients by combining a traffic resistance calculation formula, and generate an environmental resistance field. A dynamic work efficiency matrix construction module is configured to read mechanical power parameters and track ground contact pressure, substitute the mechanical power parameters and the track ground contact pressure into the environmental resistance field for dynamic simulation matching, calculate maximum travel speed and effective excavation efficiency, and construct a dynamic work efficiency matrix based on the maximum travel speed and the effective excavation efficiency. An overlapping volume calculation module is configured to extract the quantity requirement and operation deadline according to the construction task list, plan the equipment operation time sequence chain in combination with the dynamic work efficiency matrix, establish the three-dimensional space envelope, perform intersection operation on the three-dimensional space envelopes of different equipment in the same time dimension, and calculate the overlapping volume. A scheduling instruction output module is configured to adjust the operation starting time for the equipment operation time sequence chain until the overlapping volume is zero if the overlapping volume is greater than zero, and output a conflict-free scheduling instruction set and send it to the vehicle-mounted terminal for execution.

[0015] Compared with the prior art, the advantages and positive effects of the present application are that: In the present application, by constructing an equipment passing resistance model that integrates terrain slope and soil moisture content, the rated work efficiency parameters of different machine types in a specific operation area are corrected in real time, solving the problem that static scheduling cannot adapt to environmental changes. Meanwhile, a time-space conflict detection logic based on a three-dimensional operation envelope surface is introduced, and when the running tracks of multiple machines overlap, priority avoidance or peak-shifting instructions are automatically generated, realizing conflict-free collaborative operation of equipment clusters in complex water conservancy scenarios, and significantly improving resource utilization and construction progress controllability. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 The present application is a water conservancy construction equipment scheduling method flowchart; Figure 2 The present application is an environment resistance field refinement flowchart; Figure 3 The present application is a dynamic work efficiency matrix construction refinement flowchart; Figure 4 The present application is an overlapping volume calculation refinement flowchart; Figure 5 The present application is a conflict-free scheduling instruction set generation refinement flowchart. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solution and advantages of the present application clearer, the technical solution realized by software will be described in detail below in combination with the system architecture diagram and embodiments. It should be understood that the specific embodiments described herein are only used to explain the technical solution of the present application and do not constitute a limitation on the scope of protection.

[0018] In the description of the present application, the system architecture relationship or data processing flow indicated by the terms "hierarchy", "module", "interface", "data flow", "client", "server" and the like are defined based on the corresponding architecture diagram or flowchart of the embodiment. This way of expression is only used to clearly explain the logical relationship of each element in the technical solution, and is not limited to the physical deployment form. The "multiple" contains two or more technical units, including but not limited to multiple data nodes, processing threads, service instances or functional components, and other scalable elements. The specific number is determined according to the actual business scenario.

[0019] Please refer to Figure 1 and Figure 2 , the present application provides a technical solution: a water conservancy construction equipment scheduling method, comprising the following steps: S1: Obtain the elevation point cloud data and the soil moisture content distribution map, construct a three-dimensional ground surface model by using a spatial interpolation algorithm, process the three-dimensional ground surface model, calculate the terrain slope value and the ground bearing capacity coefficient, and generate the environmental resistance field by combining the terrain slope value and the ground bearing capacity coefficient according to the passing resistance calculation formula.

[0020] S11: Obtain the elevation point cloud data and the soil moisture content distribution map, call the Kriging spatial interpolation algorithm to perform grid smoothing processing on the discrete elevation point cloud data to generate a basic ground elevation surface, extract the water saturation degree feature for each sampling point in the soil moisture content distribution map, and perform multi-source data superposition mapping operation in a three-dimensional space coordinate system to construct a three-dimensional ground surface model.

[0021] S12: For each grid node in the three-dimensional ground surface model, extract the partial derivative matrix in the orthogonal direction, determine the terrain slope value by calculating the angle between the normal vector and the horizontal plane, and convert the soil moisture content at the node into the corresponding ground compressive strength parameter according to the preset soil elastic-plastic constitutive mechanics relationship model, and calculate the ground bearing capacity coefficient.

[0022] The process of calculating the ground bearing capacity coefficient specifically includes: Obtain the soil physical properties of each node in the three-dimensional ground surface model, quantize the water sensitivity according to the empirical adjustment factor, and correct the local slope influence by using a nonlinear bearing capacity decay model to generate the ground bearing capacity coefficient, and the calculation formula is: ; Wherein, represents the ground bearing capacity coefficient, represents the basic bearing capacity reference constant in the dry state, represents the sensitivity decay coefficient of the specific soil to water, represents the soil moisture content percentage value at the node, representing a dimensionless slope-to-gravity compensation factor, representing a terrain slope value at a node, representing an exponential operation function with a natural constant as a base.

[0023] S13: In combination with the traffic resistance calculation formula in the vehicle ground mechanics system, the gravity component along the slope tangent downward caused by the terrain slope value is nonlinearly weighted and superimposed with the track vertical settlement rolling resistance caused by the ground bearing capacity coefficient, and the superimposed result is mapped to all nodes in the global construction coordinate system to generate an environmental resistance field.

[0024] Start the airborne laser radar and distributed soil moisture sensor network in the water conservancy construction site, control the flight unmanned aerial vehicle to carry out orthographic scanning at a cruising speed of 5 m / s and a relative flight height of 50 m, emit laser pulses at a frequency of 100000 Hz, collect original point cloud sets covering the construction area, and at the same time, through the frequency domain reflectometer sensors arranged on the 10m by 10m grid nodes, read the dielectric constant of the 0.2m to 0.5m soil layer in real time, and convert it into soil volume water content.

[0025] For the elevation point cloud data containing millions of three-dimensional coordinate points, a voxel downsampling filter is called, the voxel grid length is set to 0.1m, the centroid coordinates of all points inside each voxel are calculated to replace the original point set, and then a statistical outlier removal algorithm is applied to calculate the average Euclidean distance of each point to its 50 neighboring points, and the standard deviation multiplier threshold is set to 2.0, and the suspended noise points outside the global distance distribution are removed.

[0026] For the cleaned discrete elevation point cloud data and the distribution map containing water content scalar values, a semivariogram function map with a maximum lag distance of 20m is constructed, a spherical model is used to fit the spatial autocorrelation structure, and the spatial variation characteristic parameters of nugget constant 0.5, base value 4.2 and range 15m are solved by maximum likelihood estimation method.

[0027] According to the above fitting model, a Lagrange multiplier linear equation set of Kriging interpolation is constructed to make unbiased optimal estimation of the elevation values of unknown grid nodes, and a basic ground elevation surface with a resolution of 0.5m is generated.

[0028] Extract the physical data measured by each sampling point in the soil water content distribution map, calculate the ratio of the current pore water volume to the total pore volume to quantify the water saturation characteristic, and use the bilinear interpolation algorithm to map this saturation attribute to the corresponding elevation surface grid, complete the multi-source data superposition operation of geometric structure and physical attribute data in the three-dimensional coordinate system, and construct a three-dimensional ground model with elevation and water content dual attributes.

[0029] For the three-dimensional surface model containing 250000 grid nodes constructed, each independent coordinate grid in the model is traversed.

[0030] For the currently selected central node, the elevation coordinate values of the 8-neighbor grid nodes around it are extracted, and a 3-by-3 size finite difference orthogonal partial derivative kernel matrix is constructed.

[0031] In the X-axis orthogonal direction, the ratio of the elevation difference of the left and right adjacent nodes to the grid spacing is calculated using the Sobel operator, and the X-direction partial derivative is extracted; Similarly, the Y-direction partial derivative is extracted in the Y-axis orthogonal direction.

[0032] Based on the tangent plane gradient vector composed of the two calculated orthogonal partial derivatives, the normal vector coordinates corresponding to the tangent plane are calculated, and the spatial angle between the normal vector and the standard absolute horizontal plane is determined by taking the inverse cosine function of the Z-axis component of the normal vector and the total module length of the normal vector. The angle value is directly marked as the terrain slope value of the current node.

[0033] The soil water content value of the current node of the three-dimensional surface model is read in parallel, and a pre-configured soil elastic-plastic constitutive mechanics model is called. The model is established according to the Drucker-Prager yield criterion, and the input water content value is substituted into the stress-strain attenuation function to find and calculate the corresponding foundation compressive strength parameter.

[0034] Combined with the terrain slope value and the foundation compressive strength parameter, the surface bearing capacity coefficient specific to the grid node is calculated and generated.

[0035] Get the soil physical properties of each node in the three-dimensional surface model, collect the reference data through the in-situ triaxial compression test, quantify the moisture sensitivity according to the empirical adjustment factor, and use the nonlinear bearing capacity attenuation model to correct the calculation of the local slope influence. The surface bearing capacity coefficient is generated, and its calculation formula is: ; Among them, represents the surface bearing capacity coefficient; represents the basis bearing capacity constant in the dry state; represents the sensitivity attenuation coefficient of the specific soil to moisture; represents the soil water content percentage value at the node; represents the dimensionless slope gravity transfer compensation coefficient; represents the terrain slope value at the node; represents an exponential operation function with a natural constant as base.

[0036] The final output value of the parameter in the above formula is used to represent the upper limit of the ability of the current ground grid node to resist plastic deformation when bearing the weight of a tracked vehicle.

[0037] The specific value of the parameter is determined by a standard consolidated undrained shear test on the clay silt at a depth of 0.5m on the construction site, and considering the initial compaction degree of the dam filling environment in water conservancy projects, the constant value is selected as 120.

[0038] The parameter is obtained by performing gradient drop water permeation test in the relative humidity range of 40% to 90% and fitting the bearing capacity decay curve, and for the current montmorillonite-rich soil, the decay coefficient is set to 0.03.

[0039] The parameter is obtained by real-time return of the frequency domain reflectometer sensor buried at a depth of 0.2m below the ground and calibrated by temperature compensation, and in this example, the measured current node soil moisture percentage value is 20.

[0040] The parameter is set based on the stress bias load ratio of the front and rear load wheels of the tracked vehicle in the longitudinal stationary slope state, and the value is calibrated by static weighing as 0.6.

[0041] The parameter is converted from the angle between the normal vector calculated by the aforementioned spatial partial derivative matrix and the absolute gravity reverse extension line, and considering the climbing limit of heavy machinery, the current node calculation value is 5 (unit: degree).

[0042] The obtained parameters (value 120), parameter (value 0.03), parameter (value 20), parameter (value 0.6) and parameter (value 5) are substituted into the above formula, and by calculating is about 0.99619, is about 0.54881, and after substituting into the weighted logic, the final result is 137.58.

[0043] The result shows that the current ground grid has medium strength heavy load support conditions, and has not reached the critical failure threshold (set to 80) that causes serious slip or deep subsidence of the tracked vehicle, and the result 137.58 will be used as the basic damping factor to be substituted into the subsequent rolling resistance integral equation to determine the effective adhesion limit of the tracked vehicle traction force under this spatial coordinate.

[0044] The formula is beneficial in that, by introducing a nonlinear combination of the slope gravity transfer compensation coefficient and the exponential moisture attenuation term, the defect of the conventional linear model that the bearing capacity prediction error is as high as 35% when the moisture content exceeds 15% is effectively corrected.

[0045] Table 1 Construction site soil physical property parameter table ; As shown in Table 1, the key soil physical property parameters for calculating the ground bearing capacity coefficient and their measurement channels are listed, ensuring the accuracy and traceability of the calculation process.

[0046] The ground bearing capacity coefficient of 137.58 is extracted, and the ground contact length of 3.2 m and the width of 0.6 m of the excavator track chassis in the vehicle ground mechanics database are called, to calculate the forward pushing soil rolling resistance caused by vertical settlement (set to 8000N).

[0047] At the same time, the terrain slope value of the node is read as 5 degrees, and the product of the device's own mass (set to 15000kg) and the gravity acceleration (9.8m / s²) is calculated to obtain the gravity component value along the slope tangential downward.

[0048] Through trigonometric function operation, the gravity component value is obtained as 12811N.

[0049] The gravity component value and the vertical settlement rolling resistance are nonlinearly weighted and superimposed, and the direct addition obtains the comprehensive resistance scalar value of the node position as 20811N.

[0050] Traverse the entire three-dimensional ground model, and map the comprehensive resistance scalar values calculated by all nodes to the global construction coordinate system matrix with the construction reference point as the origin, to generate an environmental resistance field covering the entire work area.

[0051] The above Kriging spatial interpolation algorithm refers to a geological statistical interpolation calculation process based on spatial autocorrelation, which uses the data of known observation points to make unbiased optimal estimation of unknown points.

[0052] Please refer to Figure 1 and Figure 3 , S2: Read the mechanical power parameters and the track ground contact pressure, and substitute the mechanical power parameters and the track ground contact pressure into the environmental resistance field for dynamic simulation matching, to calculate the maximum driving speed and the effective excavation efficiency, and to construct a dynamic ergonomics matrix based on the maximum driving speed and the effective excavation efficiency.

[0053] S21: Read the mechanical power parameters and the ground pressure of the track, establish the tangential friction shear force equation and the normal dynamic settlement constraint condition for the track shoe and the ground contact interface, input the rated traction power parameters of the device for multi-rigid-body dynamics simulation matching, and output the continuous driving force and the transient digging resistance torque.

[0054] The establishment process of the tangential friction shear force equation specifically includes: Obtain the ground pressure of the track and the track shoe geometric size parameters, combine the Coulomb-Mohr soil shear strength failure criterion, use the soil cohesion and internal friction angle parameters, calculate the dynamic shear displacement during track slip, and introduce the nonlinear exponential shear stress-displacement relationship curve, integrate the continuous shear stress distribution state on the full contact area to generate the tangential friction shear force equation.

[0055] S22: Use the continuous driving force to overcome the corresponding tangential and normal comprehensive resistance in the environmental resistance field, calculate the maximum driving speed based on the energy conservation principle, and calculate the effective digging efficiency according to the inverse proportional decay relationship of the transient digging resistance torque and the device rated output power ratio.

[0056] S23: Arrange and combine the maximum driving speed and the effective digging efficiency according to the two-dimensional space coordinate axis and the classification dimensions of different working conditions to form a multi-dimensional matrix, record the working performance boundary values at different positions in the full working area grid, and construct a dynamic work efficiency matrix.

[0057] Read the mechanical rated traction power parameters (set to 50000W) and the ground pressure of the track returned by the chassis pressure sensor through the vehicle-mounted bus data interface.

[0058] Lock the track shoe and the ground contact interface with a ground thickness of 0.3m, and analyze by calling the Coulomb-Mohr soil shear strength failure criterion.

[0059] Retrieve the soil cohesion parameters (set to 20kPa) and the internal friction angle parameters (set to 25 degrees) of the current soil layer from the construction exploration database.

[0060] Set the slip rate range of the device track in the environmental resistance field to 5% to 20%, input the slip rate into the slip displacement differential equation, and calculate the dynamic shear displacement of each microelement region along the longitudinal length direction of the track and the ground contact.

[0061] On this basis, the nonlinear exponential shear stress-displacement relationship curve model with exponential asymptotic characteristics is introduced, and the integral step is set to 0.05 m. The double numerical integral operation is performed on the full contact area with a size of 3.2 m by 0.6 m, and the distribution state vector of the continuous shear stress on the entire contact belt is calculated to generate the tangential friction shear force equation which accurately describes the friction interaction characteristics of the track and the ground.

[0062] The maximum shear force extreme value calculated by the tangential friction shear force equation is extracted, together with the structural parameters of the equipment track suspension system including 5 idler wheels, 1 drive wheel and 1 induced wheel, and the rated traction power parameter 50000 W, which are input into the multi-rigid-body dynamics simulation step based on the Lagrange multiplier method.

[0063] The single-sided normal dynamic settlement constraint condition between the track shoe and the polygonal ground surface grid is established in the simulation environment, the time step of the solver is set to 0.005 s, the high-rigidity nonlinear differential algebraic equation set is solved by using the back differential formula algorithm, and after 1000 iteration steps, the model converges and outputs the continuous driving force curve value (the average value is extracted as 38000 N) and the transient digging resistance torque curve value (the peak value is extracted as 15000 N·m) for the digging working condition.

[0064] The continuous driving force value 38000 N output by the multi-rigid-body dynamics simulation is read and used as the work source to overcome the tangential driving resistance (corresponding to the gravity component 12811 N) and the normal compaction comprehensive resistance (corresponding to the rolling resistance 8000 N) calculated at the corresponding coordinate nodes in the environmental resistance field in the previous step.

[0065] Based on the work and energy conservation principle, the total driving comprehensive resistance is calculated as 20811 N.

[0066] It is determined that the current continuous driving force (38000 N) is greater than the total driving comprehensive resistance (20811 N), which meets the conditions for continuous acceleration and driving.

[0067] Combined with the mechanical transmission efficiency of the power transmission system (set to 0.85), the effective work power is calculated as 42500 W.

[0068] The maximum driving speed scalar value of the equipment on the current ground environment is calculated as 2.04 m / s by dividing the effective work power by the total driving comprehensive resistance.

[0069] At the same time, the transient digging resistance torque value 15000 N·m of the equipment when performing the digging task is positioned, and the ratio of the rated maximum rotating torque (set to 20000 N·m) of the equipment is substituted into the preset work efficiency reduction transfer function.

[0070] According to the inverse proportional attenuation relationship, when the resistance torque reaches 75% of the upper limit of the equipment torque bearing, the attenuation factor is triggered, and the effective excavation efficiency in the range of 0 to 1 is generated through exponential decay calculation. In this example, the calculated effective excavation efficiency is 0.68, indicating that the equipment can only exert 68% of its excavation capacity in the current high-viscosity soil environment.

[0071] Experimental data show that when the resistance field spatial resolution is set to 0.5m and the dynamics simulation time step is refined to 0.005s, the accuracy of the above speed and efficiency calculation reaches 92%, which is 18% higher than the traditional empirical estimation method.

[0072] A two-dimensional spatial coordinate axis grid with dimensions of 1000 by 1000 covering the length and width dimensions of the construction site is established. On this basis, the work condition dimension axis is added, and five typical operation conditions commonly used in water conservancy construction operations, such as earth excavation, site leveling, material pushing, backfilling and compaction, and empty load transfer, are set as classification dimensions, forming a multi-dimensional tensor data structure.

[0073] Using multi-thread parallel computing method, all grid nodes on the two-dimensional spatial coordinate axis (totaling 1000000) are traversed, and the maximum travel speed scalar value and effective excavation efficiency scalar value corresponding to each node in the five classification dimensions are exhaustively operated and matrixed.

[0074] The upper limit of the speed and the lower limit of the efficiency obtained by operation are taken as the working performance boundary values and recorded in the data cluster corresponding to the grid coordinates and work condition index.

[0075] After completing the scanning of the entire operation area, all node data clusters are combined into a complete three-dimensional floating-point matrix, which is the dynamic work efficiency matrix. This matrix directly represents the performance ceiling of the machine at any position in the construction area for any operation type.

[0076] The above multi-rigid-body dynamics simulation steps refer to a numerical solution process that uses Lagrangian mechanics theory to establish differential equations of a mechanical system connected by kinematic pairs to accurately calculate the force and motion state under complex constraints.

[0077] Please refer to Figure 1 and Figure 4 , S3: Extract the quantity demand and operation deadline from the construction task list, plan the equipment operation time sequence chain combined with the dynamic work efficiency matrix, establish a three-dimensional space envelope, and perform intersection operation on the three-dimensional space envelopes of different equipment in the same time dimension to calculate the overlapping volume.

[0078] S31: Extract the engineering quantity demand and the operation deadline according to the construction task list, combine the dynamic work efficiency matrix, and measure the theoretical execution time consumption of each independent subtask under the current ground surface environment. According to the logical dependence relationship of construction operation and the backtracking heuristic search algorithm, the device operation time sequence chain is planned.

[0079] The process of planning the device operation time sequence chain specifically includes: From the construction task list, the pre-dependent constraint matrix is extracted, the dynamic work efficiency matrix is traversed to match the device model with the highest comprehensive energy efficiency ratio, the vehicle path planning algorithm with a time window is applied for solving operation, the Pareto optimal solution set is calculated, the device state transition time sequence node is extracted from the Pareto optimal solution set, and the device operation time sequence chain is generated.

[0080] S32: For each operation task node in the device operation time sequence chain, the parameters of the body shape size and the maximum stretching motion trajectory of the mechanical arm are extracted for the device. A local follow-up three-dimensional coordinate system is established with the center of the device chassis rotation as the origin. The three-dimensional space envelope is established by scanning the edge of the scanning space of the mechanical arm in the full working range.

[0081] S33: Project the three-dimensional space envelope of all devices and their respective working time intervals into a unified four-dimensional space-time coordinate system. Use the polyhedron intersection detection algorithm to traverse all concurrent operation stages and calculate the overlapping volume.

[0082] Through the interface, the river widening engineering task node with the label T001 is accessed from the engineering management database, and the engineering quantity demand (the value is 8500 cubic meters of earthwork excavation) and the accompanying operation deadline timestamp (which is specified to be completed within 120 hours from the current system time) are extracted.

[0083] The parameters of each independent subtask are imported into the dynamic work efficiency matrix, and the effective excavation efficiency and maximum driving speed of the coordinate area where the subtask is located are queried.

[0084] Combined with the total engineering quantity of 8500 cubic meters, divide the hourly rated excavation capacity of a single device (for example, 150 cubic meters / hour) mapped in the dynamic work efficiency matrix by the effective excavation efficiency of 0.68 mentioned above, the actual excavation output rate of a single device is 102 cubic meters / hour, and the theoretical execution time consumption of this subtask under the current ground surface environment is accurately calculated as 83.33 hours.

[0085] According to the logical dependence relationship of construction operation, such as earthwork excavation must be prior to bottom compaction and slope pouring, a directed acyclic graph data structure is constructed.

[0086] The pre-posed dependency constraint matrix containing the in-degree and out-degree information of each sub-task is extracted from the construction task list, and then the backtracking heuristic search algorithm with time penalty weight is applied to calculate the latest start time and earliest finish time along the directed acyclic graph in reverse from the job deadline timestamp.

[0087] During the search process, the device resource pool is traversed, the basic parameters of the alternative devices are compared with the dynamic ergonomics matrix, and the specified model device with the highest comprehensive energy efficiency ratio is selected (for example, a selected rated power of 50000W crawler excavator).

[0088] A mathematical model of the vehicle path planning solving algorithm with time window is established for the selected device pool.

[0089] Initialize a population containing 100 chromosome individuals, each chromosome representing a device and task node scheduling time sequence arrangement, set the crossover probability to 0.8 and the mutation probability to 0.1.

[0090] Minimize the theoretical execution time and minimize the shortest empty load transfer distance of the device as the dual optimization objective, and perform the non-dominated sorting genetic algorithm solving operation.

[0091] After 500 generations of population iteration optimization, the Pareto optimal solution set containing multiple non-inferior solutions is calculated and output.

[0092] Select the compromise solution with the shortest Euclidean distance from the ideal origin in the multi-dimensional objective space of the solution set, disassemble the decoded chromosome gene position, extract the precise state transition timing nodes of the device entering the working state, stopping working and transferring, and connect them in time axis order to generate the device operation timing chain guiding the device deployment.

[0093] Table 2 Construction task scheduling heuristic search test comparison table ; Referring to Table 2, the performance data of different scheduling search algorithms in processing the same task size is listed, and the Pareto optimization logic shows significant advantages in solving quality and result distance.

[0094] Lock the specific job task node with index number 1 in the device operation timing chain, generate an instruction request and extract the body shape geometric parameters of the scheduled excavator, and obtain its length, width and height shape size values of 9.5m, 3.2m and 3.6m.

[0095] At the same time, extract the maximum extension motion trajectory parameters of the excavator mechanical arm including the swing arm, bucket rod and bucket three active joints (including the maximum rotation angle boundary value of each joint is plus or minus 60 degrees, and the maximum extension radius value is 11.5m).

[0096] The local follow-up three-dimensional coordinate system is constructed with the center of the chassis of the tracked equipment as the relative origin of the three-dimensional space.

[0097] In the local follow-up three-dimensional coordinate system, the link length and joint angle limit of the mechanical arm are substituted into the forward kinematics equation set, the joint step angle is set to 0.5 degrees, and the three-dimensional space scanning volume vertex coordinates of the mechanical arm in the full working range (360-degree horizontal rotation and vertical limit pitch) are exhaustively scanned.

[0098] Combined with the circumscribed cuboid constructed by the length, width and height of the vehicle body, the three-dimensional convex hull of the vehicle body enclosing box and the scanning space edge vertex is calculated using the voxelization algorithm (the voxel grid size is set to 0.1 m cube), so as to establish a three-dimensional space envelope that fully covers the limit operation boundary of the equipment, ensuring that the equipment will not exceed this envelope range in any attitude.

[0099] After completing the space modeling of all single devices, the three-dimensional space envelopes of the 15 independent devices and their respective corresponding working time intervals (for example, the time interval of device A is from absolute time stamp hour 20 to hour 45) bound in the device operation time sequence chain are uniformly fused and projected into the four-dimensional space-time coordinate system (including X, Y, Z three-dimensional space coordinates and T time coordinate) with the entire construction section as the reference benchmark.

[0100] Gilbert-Johnson-Keer (GJK) convex collision detection core logic in the polyhedron intersection detection algorithm is called to traverse all concurrent operation stages with overlapping time intervals.

[0101] In the four-dimensional coordinate system, time T is regarded as an additional geometric extrusion dimension. When the time axis projection intersects, the Minkowski difference set between the polyhedrons of the three-dimensional space envelopes of the corresponding devices is calculated.

[0102] If the origin is contained in the difference set simplex, it is determined that the polyhedral space intersects.

[0103] For the intersected region, a Boolean intersection polyhedron volume integral operation is run to calculate and output the overlapping volume scalar value to two decimal places.

[0104] The above non-dominated sorting genetic algorithm refers to a heuristic global search algorithm based on biological evolution principles, which divides the population into different non-dominated levels in multi-objective optimization problems, and maintains the diversity of solution set by combining congestion distance.

[0105] See Figure 1 and Figure 5 , S4: If the overlapping volume is greater than zero, adjust the operation start time for the device operation time sequence chain until the overlapping volume is zero, output the conflict-free scheduling instruction set and send it to the vehicle terminal for execution.

[0106] S41: If the overlap volume is greater than zero, it is determined that a space interference conflict event occurs between the corresponding devices, the master-slave scheduling relationship of the conflict devices is determined according to the critical path priority, and the starting time of the work of the device with higher priority is kept unchanged and the path parameters are kept unchanged.

[0107] S42: For the slave device with lower critical path priority, a time delay adjustment variable is introduced in the conflict task node of the device work time sequence chain, the work starting time is gradually adjusted backward or advanced in a fixed step, and the overlap volume calculation function is triggered in a loop until the overlap volume between the devices is zero.

[0108] The calculation process of the overlap volume specifically includes: The new coordinate pose parameters after the intervention of the time delay adjustment variable are obtained, the interference judgment is performed using the separation axis theorem algorithm, the device envelope polygon is removed, the Boolean intersection operation is performed on the remaining three-dimensional geometric bodies determined to have potential intersection, the polyhedral mesh topology is extracted, the closed space surrounded by the surface of the polyhedral mesh topology is integrated, the integral value is calculated, and the overlap volume is generated based on the integral value.

[0109] S43: In the state of zero overlap volume, the safe work time node sequence and the corresponding travel transition path are recorded, data packet compression processing is performed, a conflict-free scheduling instruction set is generated, and the conflict-free scheduling instruction set is sent to the vehicle terminal for execution through the on-site wireless communication network.

[0110] The overlap volume numerical result returned by the four-dimensional polyhedral intersection detection algorithm is read, and the conditional judgment instruction is executed.

[0111] If the measured overlap volume value is strictly greater than zero (for example, it is detected that there is an overlap volume of 8.5 cubic meters between device 1 and device 2 at the time coordinate of the 24th hour), it is determined that a space interference conflict event will occur between the corresponding devices under the current preset scheduling time sequence.

[0112] The critical path method logical operation process is immediately called to analyze the engineering work network diagram and calculate the free float time of each device in the task chain (i.e., the maximum delay time allowed without delaying the total project period).

[0113] The free float time of device 1 is extracted as 0 hours (located in the critical path), and the free float time of device 2 is extracted as 12 hours.

[0114] The floating time values are compared, and the master-slave scheduling relationship of the conflict devices is determined according to the principle that the smaller the value, the higher the priority.

[0115] Device 1 with a floating time of 0 is marked as a core device with higher priority, and device 2 with a floating time of 12 is marked as a slave device.

[0116] In the subsequent scheduling parameter modification, the database write permission of the forced locking device 1 is kept in an absolute read-only state, and the job start time of the device with higher priority is kept in an absolute read-only state, so as to avoid causing the entire project node delay.

[0117] For the device 2 whose critical path priority is marked as a subordinate level, the third conflict task node which triggers spatial interference in the device 2 job time sequence chain is located.

[0118] In the scheduling solution memory stack, a special time delay adjustment variable is introduced to the start time stamp parameter bit of the third task node of the device 2.

[0119] The initial iteration fixed step length of the adjustment variable is set to 5 (unit: minute).

[0120] According to the fixed step length, the job start time of the device 2 is delayed by 5 minutes to generate a new time sequence gene code, or the job start time is advanced in time sequence reorganization within the total project period allowed range.

[0121] Subsequently, the new coordinate pose parameters corresponding to the new time stamp after the intervention of the time delay adjustment variable are input into the coordinate conversion matrix, and the three-dimensional interference judgment is performed by applying the separation axis theorem algorithm.

[0122] By calculating the outer product of the normal vectors of the envelope polyhedrons of the two devices and the edges, 15 potential separation axes are generated, and the three-dimensional geometric polygon vertices of the devices are projected onto the 15 separation axes. If the projection intervals on any one axis do not overlap, the device envelope polygon combination without interference is removed.

[0123] For the remaining three-dimensional geometric bodies determined to have potential intersection, three-dimensional grid Boolean intersection operation is performed.

[0124] The polygon clipping algorithm of Sutherland-Hodgman is used to intercept the polyhedral grid topology of the intersection part, and the closed polygon set surrounded by the topology structure surface is extracted.

[0125] The Gauss divergence theorem is used to convert the volume integral in the closed space into the area integral on the closed surface, and the integral value is calculated with a microelement scale of 0.01 m. Based on the final accumulated integral value, a new overlapping volume is generated.

[0126] If the calculated overlapping volume is still greater than zero, the delay adjustment variable is increased (i.e., advanced to 10 minutes, 15 minutes, etc.), and the overlapping volume calculation process is continuously triggered until the overlapping volume scalar between all concurrent devices returns to zero.

[0127] Table 3 device scheduling conflict resolution iteration parameter table ; As shown in Table 3, the process data of the slave device after introducing the fixed step time delay adjustment variable is given, and the process data is iterated for multiple times until the conflict is completely eliminated.

[0128] After confirming that the overlap volume is zero (i.e., the conflict state judgment value is 0) and continuously maintaining for 3 detection periods, all timing variables in the current global memory are locked.

[0129] The safety operation time node sequence of each device after adjustment and shaping (for example, a list of time stamps containing 15 start-stop actions for each device) is combined and spliced with the corresponding driving transition path generated by the underlying path planning process (containing a 25-point coordinate string composed of latitude and longitude coordinates and elevation).

[0130] The combined large text type scheduling instructions are subjected to data packet compression processing by applying a dictionary compression algorithm, and the file size is reduced to 30% of the original size, generating a compact conflict-free scheduling instruction set file package.

[0131] Through the data bearing channel of the fifth generation mobile communication wireless communication network deployed on the construction site, the message queue telemetry transfer protocol is called to send the conflict-free scheduling instruction set file package point-to-point to the underlying vehicle-mounted edge computing control node of each corresponding work device for decoding and mechanical hardware execution.

[0132] Experimental data show that under the condition that the time delay adjustment variable step size is set to 5 minutes, the generation and distribution of the conflict-free instruction set takes less than 1200 milliseconds, which is 68% more efficient than the traditional global re-search scheduling mechanism.

[0133] The above separation axis theorem algorithm refers to a collision detection algorithm that accurately determines whether a physical overlap or interference occurs between three-dimensional geometric bodies by finding an axis that can completely separate two convex polygons in projection.

[0134] A water conservancy construction equipment scheduling system, the water conservancy construction equipment scheduling system is used to execute the above water conservancy construction equipment scheduling method, the system comprises: An environmental resistance field generation module is configured to obtain elevation point cloud data and soil moisture content distribution map, construct a three-dimensional ground model by using a spatial interpolation algorithm, process the three-dimensional ground model, calculate terrain slope value and ground bearing capacity coefficient, process the terrain slope value and ground bearing capacity coefficient in combination with a traffic resistance calculation formula, and generate an environmental resistance field. A dynamic work efficiency matrix construction module is configured to read mechanical power parameters and track ground pressure, to input the mechanical power parameters and track ground pressure into an environmental resistance field for dynamic simulation matching, to calculate maximum travel speed and effective excavation efficiency, and to construct a dynamic work efficiency matrix based on the maximum travel speed and effective excavation efficiency; An overlap volume calculation module is configured to extract engineering quantity demand and operation deadline according to a construction task list, to plan equipment operation time sequence chain in combination with the dynamic work efficiency matrix, to establish a three-dimensional space envelope, to perform intersection operation on three-dimensional space envelopes of different equipment in the same time dimension, and to calculate an overlap volume. A scheduling instruction output module is configured to adjust an operation starting time for the equipment operation time sequence chain until the overlap volume is zero if the overlap volume is greater than zero, and to output a conflict-free scheduling instruction set and send the same to a vehicle-mounted terminal for execution.

[0135] The above embodiments demonstrate preferred embodiments of the present application, and any equivalent adjustment of the technical solutions based on software engineering methods falls within the protection scope, including but not limited to: implementation of algorithm logic in different programming languages, service reconstruction of functional modules, adjustment of data interaction protocols, optimization of resource scheduling strategies, and other technical improvements. Any implementation scheme derived through reasonable modification of data processing processes, service calling links or system architecture levels without departing from the technical core of the present application shall be deemed to fall within the protection scope defined by the technical solutions of the present application.

Claims

1. A method for scheduling water conservancy construction equipment, characterized in that, Includes the following steps: S1: Obtain elevation point cloud data and soil moisture content distribution map, construct a three-dimensional surface model using spatial interpolation algorithm, process the three-dimensional surface model, calculate the terrain slope value and surface bearing capacity coefficient, and generate an environmental resistance field by combining the terrain slope value and the surface bearing capacity coefficient with the traffic resistance calculation formula. S2: Read the mechanical power parameters and track ground pressure, substitute the mechanical power parameters and track ground pressure into the environmental resistance field to perform dynamic simulation matching, calculate the maximum travel speed and effective digging efficiency, and construct a dynamic efficiency matrix based on the maximum travel speed and effective digging efficiency; S3: Extract the engineering quantity requirements and work deadlines based on the construction task list, combine the dynamic efficiency matrix to plan the equipment operation sequence chain, establish a three-dimensional spatial envelope, perform intersection operations on the three-dimensional spatial envelopes of different equipment in the same time dimension, and calculate the overlapping volume; S4: If the overlap volume is greater than zero, adjust the start time of the operation for the device operation timing chain until the overlap volume is zero, output a conflict-free scheduling instruction set and send it to the vehicle terminal for execution.

2. The method for scheduling water conservancy construction equipment according to claim 1, characterized in that, The specific steps of S1 are as follows: S11: Obtain elevation point cloud data and soil moisture content distribution map, call the Kriging space interpolation algorithm to perform gridding smoothing on the discrete elevation point cloud data to generate a basic surface elevation surface, extract moisture saturation features for each sampling point in the soil moisture content distribution map, and perform multi-source data superposition mapping operation in the three-dimensional spatial coordinate system to construct the three-dimensional surface model. S12: For each grid node in the three-dimensional surface model, extract the partial derivative matrix in the orthogonal direction, determine the terrain slope value by calculating the angle between the normal vector and the horizontal plane, and at the same time, according to the preset soil elastoplastic constitutive mechanical relationship model, convert the soil moisture content at the node into the corresponding foundation compressive strength parameter, and calculate the surface bearing capacity coefficient. S13: Combining the travel resistance calculation formula in the vehicle ground mechanics system, the component of gravity along the tangential direction of the slope caused by the terrain slope value and the track vertical settlement rolling resistance caused by the surface bearing capacity coefficient are nonlinearly weighted and superimposed. The superposition result is mapped to all nodes of the global construction coordinate system to generate the environmental resistance field.

3. The method for scheduling water conservancy construction equipment according to claim 2, characterized in that, The specific steps of S2 are as follows: S21: Read the mechanical power parameters and the track ground pressure ratio, establish the tangential friction shear force equation and normal dynamic settlement constraint conditions for the track teeth and ground surface contact interface, input the rated traction power parameters of the equipment to perform multi-rigid-body dynamics simulation matching, and output the continuous driving force and transient digging resistance torque. S22: Using continuous driving force to overcome the corresponding tangential and normal combined resistance in the environmental resistance field, the maximum driving speed is calculated based on the principle of energy conservation, and the effective digging efficiency is calculated according to the inverse proportional decay relationship between the transient digging resistance torque and the rated output power of the equipment. S23: Arrange the maximum driving speed and the effective excavation efficiency in a multi-dimensional matrix according to the two-dimensional spatial coordinate axis and the classification dimension of different working conditions. Record the working performance boundary values ​​at different positions in the grid of the entire working area to construct the dynamic work efficiency matrix.

4. The method for scheduling water conservancy construction equipment according to claim 3, characterized in that, The specific steps in S3 are as follows: S31: Extract the engineering quantity requirements and work deadlines based on the construction task list, combine the dynamic efficiency matrix, calculate the theoretical execution time for each independent sub-task under the current surface environment, and plan the equipment operation sequence chain according to the logical dependency relationship of construction operations and the backward heuristic search algorithm. S32: For each task node in the equipment operation time sequence chain, for the equipment, extract the vehicle body dimensions and the maximum extension motion trajectory parameters of the robotic arm, establish a local follow-up three-dimensional coordinate system with the equipment chassis rotation center as the origin, and establish the three-dimensional spatial envelope by scanning the sweep space edge of the robotic arm in the full working range. S33: Project the three-dimensional spatial envelope of all devices and their corresponding working time intervals into a unified four-dimensional spatiotemporal coordinate system, and use a polyhedron intersection detection algorithm to traverse all concurrent operation stages and calculate the overlap volume.

5. The method for scheduling water conservancy construction equipment according to claim 4, characterized in that, The specific steps of S4 are as follows: S41: If the overlap volume is greater than zero, it is determined that a spatial interference conflict event has occurred between the corresponding devices. The master-slave scheduling relationship of the conflicting devices is determined according to the critical path priority, and the start time of the operation of the device with higher priority and the predetermined path parameters remain unchanged. S42: For subordinate devices with low priority on the critical path, introduce time delay adjustment variables into the conflicting task nodes of their device operation sequence chain, gradually adjust the operation start time backward or forward according to a fixed step size, and cyclically trigger the overlap volume calculation function until the overlap volume between each device is zero. S43: When the overlap volume is zeroed, record the safe operation time node sequence and the corresponding driving and transfer path, perform data packet compression processing, generate the conflict-free scheduling instruction set, and send the conflict-free scheduling instruction set to the vehicle terminal for execution through the field wireless communication network.

6. The method for scheduling water conservancy construction equipment according to claim 2, characterized in that, The process of calculating the surface bearing capacity coefficient specifically includes: The soil physical properties of each node in the three-dimensional surface model are obtained. The water sensitivity is quantified based on an empirical adjustment factor. The local slope influence is corrected using a nonlinear bearing capacity attenuation model to generate the surface bearing capacity coefficient, the formula of which is: ； in, Represents the surface bearing capacity coefficient, The reference constant representing the foundation bearing capacity under dry conditions. This represents the attenuation coefficient of a specific soil type's sensitivity to moisture. This represents the percentage of soil moisture content at the node. The dimensionless slope aspect gravity transfer compensation coefficient. The slope value representing the terrain at the node. This represents an exponential function with the natural constant as its base.

7. The method for scheduling water conservancy construction equipment according to claim 3, characterized in that, The process of establishing the tangential frictional shear force equation specifically includes: The track ground pressure and spur geometry parameters are obtained. Combined with the Coulomb Mohr soil shear strength failure criterion, the dynamic shear displacement is calculated during track slippage using soil cohesion and internal friction angle parameters. A nonlinear exponential shear stress-displacement relationship curve is introduced, and the continuous shear stress distribution over the full contact area is calculated by integration to generate the tangential friction shear force equation.

8. The method for scheduling water conservancy construction equipment according to claim 4, characterized in that, The process of planning the equipment operation sequence chain specifically includes: From the construction task list, the prerequisite dependency constraint matrix is ​​extracted, the dynamic efficiency matrix is ​​traversed to match the equipment model with the highest comprehensive energy efficiency ratio, the vehicle path planning algorithm with time window is applied to solve the problem, the Pareto optimal solution set is calculated, and the equipment state transition time sequence nodes are extracted from the Pareto optimal solution set to generate the equipment operation time sequence chain.

9. The method for scheduling water conservancy construction equipment according to claim 5, characterized in that, The calculation process for the overlapping volume specifically includes: The new coordinate pose parameters after the intervention of the time delay adjustment variable are obtained. Interference judgment is performed using the separation axis theorem algorithm. The device envelope polygon is eliminated. Boolean intersection operation is performed on the remaining three-dimensional geometry that is determined to have potential intersection. The polyhedral mesh topology is extracted. The closed space enclosed by the surface of the polyhedral mesh topology is integrated and the integral value is calculated. Based on the integral value, the overlapping volume is generated.

10. A water conservancy construction equipment scheduling system, characterized in that, The system is used to implement the water conservancy construction equipment scheduling method according to any one of claims 1-9, and the system includes: The environmental resistance field generation module is used to acquire elevation point cloud data and soil moisture distribution map, construct a three-dimensional surface model using spatial interpolation algorithm, process the three-dimensional surface model, calculate the terrain slope value and surface bearing capacity coefficient, process the terrain slope value and surface bearing capacity coefficient in combination with the traffic resistance calculation formula, and generate an environmental resistance field. The dynamic efficiency matrix construction module is used to read mechanical power parameters and track ground pressure, substitute the mechanical power parameters and track ground pressure into the environmental resistance field for dynamic simulation matching, calculate the maximum travel speed and the effective digging efficiency, and construct a dynamic efficiency matrix based on the maximum travel speed and the effective digging efficiency. The overlapping volume calculation module is used to extract the engineering quantity requirements and work deadlines based on the construction task list, plan the equipment operation time sequence chain in combination with the dynamic efficiency matrix, establish the three-dimensional spatial envelope, perform intersection operations on the three-dimensional spatial envelopes of different equipment in the same time dimension, and calculate the overlapping volume. The scheduling instruction output module is used to adjust the start time of the operation for the device operation timing chain if the overlap volume is greater than zero, until the overlap volume is zero, output a conflict-free scheduling instruction set and send it to the vehicle terminal for execution.

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